mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 23:23:34 +08:00
Jacob Dahl
ea8bcd9cef
* gz: use server config file for loading world plugins * submodule * use server.config in tree * newlines * format * gzbridge: rename function * format * gzbridge: add magnetometer callback * change gz_find_package to find_package * fix up directory structure and cmake to allow multiple plugins * newlines * add comment block explaining gz_env.sh * remove dupe readme * remove SENS_EN_MAGSIM from all gz airframe files except spacecraft * update gz submodule
92 lines
2.5 KiB
Bash
92 lines
2.5 KiB
Bash
#!/bin/sh
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#
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# @name Quadrotor + Tailsitter
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#
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# @type VTOL Quad Tailsitter
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#
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. ${R}etc/init.d/rc.vtol_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
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param set-default SIM_GZ_EN 1 # Gazebo bridge
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param set-default MAV_TYPE 20
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.15
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param set-default CA_ROTOR0_PY 0.23
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.15
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param set-default CA_ROTOR1_PY -0.23
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.15
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param set-default CA_ROTOR2_PY -0.23
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.15
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param set-default CA_ROTOR3_PY 0.23
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_SV_CS_COUNT 0
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param set-default SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_FUNC3 103
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param set-default SIM_GZ_EC_FUNC4 104
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param set-default SIM_GZ_EC_MIN1 10
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param set-default SIM_GZ_EC_MIN2 10
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param set-default SIM_GZ_EC_MIN3 10
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param set-default SIM_GZ_EC_MIN4 10
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param set-default SIM_GZ_EC_MAX1 1500
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param set-default SIM_GZ_EC_MAX2 1500
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param set-default SIM_GZ_EC_MAX3 1500
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param set-default SIM_GZ_EC_MAX4 1500
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param set-default FD_FAIL_R 70
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param set-default FW_P_TC 0.6
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param set-default FW_PR_I 0.3
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param set-default FW_PR_P 0.5
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param set-default FW_PSP_OFF 2
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param set-default FW_RR_FF 0.1
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param set-default FW_RR_I 0.1
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param set-default FW_RR_P 0.2
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param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
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param set-default FW_YR_I 0
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param set-default FW_THR_TRIM 0.35
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param set-default FW_THR_MAX 0.8
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param set-default FW_THR_MIN 0.05
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param set-default FW_T_CLMB_MAX 6
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param set-default FW_T_HRATE_FF 0.5
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param set-default FW_T_SINK_MAX 3
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param set-default FW_T_SINK_MIN 1.6
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param set-default FW_AIRSPD_STALL 10
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param set-default FW_AIRSPD_MIN 14
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param set-default FW_AIRSPD_TRIM 18
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param set-default FW_AIRSPD_MAX 22
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param set-default MC_AIRMODE 2
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param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
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param set-default MC_ROLL_P 3
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param set-default MC_PITCH_P 3
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param set-default MC_ROLLRATE_P 0.3
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param set-default MC_PITCHRATE_P 0.3
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param set-default VT_ARSP_TRANS 15
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param set-default VT_B_TRANS_DUR 5
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param set-default VT_FW_DIFTHR_EN 7
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param set-default VT_FW_DIFTHR_S_Y 1
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param set-default VT_F_TRANS_DUR 1.5
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param set-default VT_TYPE 0
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param set-default WV_EN 0
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param set-default EKF2_FUSE_BETA 0
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